CN110296656B - Automatic switching device and method of switch cabinet based on machine vision - Google Patents
Automatic switching device and method of switch cabinet based on machine vision Download PDFInfo
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- CN110296656B CN110296656B CN201910636143.4A CN201910636143A CN110296656B CN 110296656 B CN110296656 B CN 110296656B CN 201910636143 A CN201910636143 A CN 201910636143A CN 110296656 B CN110296656 B CN 110296656B
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- image
- operation hole
- laser
- industrial camera
- switch cabinet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
Abstract
The switch cabinet automatic switching device and method based on machine vision comprise an XYZ three-axis platform arranged on a walking trolley, wherein an industrial camera and a background light are arranged on a support of the walking trolley, a switching operation mechanism and a laser emitter are arranged on a Z axis of the XYZ three-axis platform, and the switching operation mechanism and the laser emitter are fixed in relative positions and move along with the Z axis. The device also comprises a bar code arranged near the operation hole of the switch cabinet. The automatic switching device and method for the switch cabinet based on machine vision can accurately and automatically identify the position of the operation hole of the switch cabinet and complete the switching operation task.
Description
Technical Field
The invention relates to the technical field of switching operation of unattended transformer substations, in particular to a switch cabinet automatic switching device and method based on machine vision.
Background
The unattended transformer substation is subjected to simple switching operation, needs technicians to drive to the site for operation, and is time-consuming and labor-consuming. The suburb transformer substations are widely distributed, the maintenance workload is large, but most of the suburb transformer substations are simply operated by switching, and the time of the maintenance personnel driving to the transformer substations greatly exceeds the switching operation time. The unattended transformer substation adopts a manual regular inspection mode to carry out on-site investigation, fault removal and switching-on and switching-off operations, the operation and maintenance difficulty is high, the labor productivity is low, a switching operation robot is introduced, the problems can be solved, the operation safety can be improved, and higher benefits can be created. Related electric power departments urgently need to complete the development of the remote switching operation robot, realize the remote switching operation on the basis of not changing the existing equipment, save manpower and material resources and reduce the operation and management cost of enterprises. At present, no similar products exist in the market.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic switching device and method of a switch cabinet based on machine vision, which can accurately and automatically identify the position of an operation hole of the switch cabinet and complete a switching operation task.
The technical scheme adopted by the invention is as follows:
automatic switching device of cubical switchboard based on machine vision includes: the device comprises an XYZ three-axis platform, a support of the walking trolley, an industrial camera and a background light, wherein the X-axis of the XYZ three-axis platform is provided with a switching operation mechanism and a laser emitter, and the switching operation mechanism and the laser emitter are fixed in relative positions and move along with the X-axis;
the device also comprises a bar code arranged near the operation hole of the switch cabinet.
The automatic switching method of the switch cabinet based on machine vision comprises the following steps:
step 1: the walking trolley moves to the position of the switch cabinet needing to be operated, and the XYZ three-axis platform is in the original position.
Step 2: turning on a background light, taking and identifying a bar code by an industrial camera, and confirming a switch cabinet interval needing to be operated; and simultaneously, the industrial camera shoots an image of the operation hole of the switch cabinet, identifies the position of the operation hole in the image and calculates the pixel coordinate value of the center of the operation hole in the image.
And step 3: and turning off the background lamp, turning on the laser emitter, taking an image by the industrial camera, identifying the position of a laser point emitted by the laser emitter in the image, and calculating the pixel coordinate value of the laser point in the image.
And 4, step 4: the operation hole image and the laser point image shot by the industrial camera are combined, and the two images are shot at the same distance and the same position, so that the operation hole pixel coordinate and the laser point pixel coordinate obtained by the image processing algorithm are the original data for controlling the motion of the XYZ three-axis platform.
And 5: because the relative position of the switching operation mechanism and the laser emitter which are arranged on the Z axis is fixed, the actual XY coordinate value can be obtained by coordinate calibration according to the image obtained by the industrial camera, the laser point pixel coordinate value obtained by the image processing algorithm and the pixel coordinate value of the operation hole, the X, Y axis is controlled to move to the operation position, and the switching operation mechanism is aligned to the operation hole insertion hole to complete the switching operation.
The invention discloses a switch cabinet automatic switching device and method based on machine vision, which has the following technical effects:
1): the walking trolley allows a position error of +/-10 mm and a nonparallel error of +/-5 degrees between the main axis of the trolley body and the panel of the switch cabinet; before the operation is started, the trolley is stopped in front of a switch cabinet needing to be operated, and the XYZ axes are located at the original positions.
2): the light source is turned on, the industrial camera recognizes the bar code on the switch compartment, and the switch cabinet to be operated is confirmed again. Meanwhile, the industrial camera identifies the working state of the switch cabinet, and switching operation is allowed when the breaker is disconnected; otherwise, returning to the original position.
3): and turning on the light source, taking an image of the operation hole by the industrial camera, identifying the position of the operation hole in the image, and calculating the pixel coordinate value of the center of the operation hole in the image.
4): turning off the light source, turning on the laser emitter, taking an image by the industrial camera, identifying the position of the laser point in the image, and calculating the pixel coordinate value of the laser point in the image.
5): the operation hole image and the laser point image which are shot by the industrial camera are combined, and the two images are shot at the same distance and the same position, so the pixel coordinates of the operation hole and the laser point obtained by image processing are the original data for controlling the XYZ-axis movement. Obtaining actual XY coordinate values through coordinate calibration according to pixel coordinate values of a laser point and an operation hole obtained by an image processing algorithm of an image obtained by a process camera, and controlling the XY axis to move to an operation position; when the operating device is aligned with the operating hole, the error is less than +/-0.5 mm, and the switching operation requirement is met.
6): the laser point and the switching operation device are relatively fixed, so that the relative positions of the operation hole and the switching operation device are ensured, and the operation device moves according to the relative positions, so that the switching operation can be completed by aligning the operation hole.
Drawings
Fig. 1 is a schematic diagram of the arrangement of operation holes and bar codes of a switch cabinet.
FIG. 2(1) is a schematic diagram of the position of the operation hole and the laser spot;
fig. 2(2) is a schematic diagram of laser spot and barcode positions.
FIG. 3(1) is a schematic top view of the switching mechanism and the laser emitter;
fig. 3(2) is a schematic front view of the switching operation mechanism and the laser emitter.
FIG. 4 is a schematic structural diagram of a switching device according to the present invention.
FIG. 5 is a switching flow chart according to the present invention.
Detailed Description
As shown in fig. 1, fig. 2(1), fig. 2(2), fig. 3(1), fig. 3(2) and fig. 4. Automatic switching device of cubical switchboard based on machine vision includes: the device comprises an XYZ three-axis platform 2 installed on a walking trolley 1, wherein an industrial camera 4 and a background lamp 5 are arranged on a support 3 of the walking trolley 1, a switching operation mechanism 6 and a laser emitter 7 are installed on a Z axis of the XYZ three-axis platform 2, and the switching operation mechanism 6 and the laser emitter 7 are fixed in relative positions and move along with the Z axis.
The switch cabinet is a KYN switch cabinet, and the KYN switch cabinet is an armored handcart switch cabinet and is mainly used for power station, power transmission of small and medium-sized generators, power distribution of industrial and mining enterprises and public institutions, power receiving and power transmission of secondary substations of electric power systems, starting of large high-voltage motors and the like. The control protection and monitoring are implemented.
As shown in fig. 4, the XYZ stage 2 is a gantry structure, the X axis is horizontal, the Y axis is vertical, and the X axis can move up and down along with the Y axis; the Z axis is installed on the X axis slide block, and the switching operation mechanism 6 is installed on the Z axis, so that the switching operation mechanism 6 can realize horizontal direction, vertical direction and back and forth movement.
The industrial camera 4 adopts a model of MER-132-30UC-L and a model of M2514-MP.
The backlight 5 employs a large constant limited ring light source.
Switching operating device 6 is including deciding the electronic spanner of moment of torsion, and during the switching operation, the moment of torsion maximum value has been set for in advance, even when guaranteeing that abnormal conditions appears, switching operating device 6 can not damage the KYN cubical switchboard yet.
The laser emitter 7 is an invisible light laser module with the power of 100mw and the near infrared point laser head of 780nm and is provided with a bracket 3.
The device also comprises a bar code 9 affixed in the vicinity of the operating aperture 8 of the switchgear cabinet.
As shown in fig. 5, the method for automatically switching the switch cabinet based on machine vision includes the following steps:
step 1: the walking trolley 1 moves to a switch cabinet position needing to be operated, and the error of +/-10 mm position and the error of +/-5 degrees of non-parallelism between the main axis of the walking trolley body and the switch cabinet panel are allowed. Before the operation is started, the walking trolley 1 stops in front of a switch cabinet needing to be operated, and the XYZ three-axis platform 2 is located at the original position.
Step 2: turning on the background light 5, the industrial camera 4 shoots and identifies the bar code 9, and confirms the switch cabinet interval needing to be operated; meanwhile, the industrial camera 4 captures an image of the operation hole 8 of the switch cabinet, identifies the position of the operation hole 8 in the image, and calculates the pixel coordinate value of the center of the operation hole 8 in the image. Specifically, codes of an upper computer are written through VC + + and openCV, and pixel coordinate values of the operation hole 8 are calculated.
And step 3: turning off the background lamp 5, turning on the laser emitter 7, taking an image by the industrial camera 4, identifying the position of the laser point emitted by the laser emitter 7 in the image, and calculating the pixel coordinate value of the laser point in the image, such as the position shown by the laser point (r) in fig. 2 (2). Specifically, upper computer codes are written through VC + + and openCV, and pixel coordinate values of the laser points are calculated.
And 4, step 4: the operation hole 8 image and the laser spot image captured by the industrial camera 4 are merged. Because the two images are shot at the same distance and the same position, the pixel sizes of the two images are consistent, and the coordinate values of the operation hole 8 and the laser point are respectively calculated, so that the processing result is completely consistent with the coordinate values of the two target point operation holes and the laser point which are calculated by regarding the two images as one image. Therefore, the pixel coordinates of the operation hole and the pixel coordinates of the laser point obtained by the image processing algorithm are the original data for controlling the motion of the XYZ three-axis platform 2.
And 5: because the relative positions of the switching operation mechanism 6 and the laser emitter 7 which are arranged on the Z axis are fixed, the actual XY coordinate value can be obtained through coordinate calibration according to the image obtained by the industrial camera 4 and the pixel coordinate value of the laser point and the pixel coordinate value of the operation hole which are obtained through an image processing algorithm, the X, Y axis is controlled to move to the operation position, and the switching operation mechanism 6 is aligned with the operation hole 8 to be inserted into the hole to complete the switching operation. The error is +/-0.5 mm, and the laser point reaches the position shown by a laser point (II) in a figure 2 (1).
The distance between the laser point and the switching operation mechanism 6 in the x direction is Lx, the distance between the laser point and the switching operation mechanism 6 in the y direction is Ly, and once the laser emitter 7 is fixedly installed, the two values are fixed and unchanged; obtaining coordinates x1 and y1 of the operation hole 8 through image recognition and image processing calculation; the coordinates of the laser point are x2 and y 2; the XYZ stage 2 moves in the XY directions (Lx- (x 2-x 1)), (Ly- (y 2-y 1), respectively). Specifically, codes of an upper computer are written through VC + + and openCV to carry out image processing and image recognition algorithms, and pixel coordinate values of the operation hole 8 and the laser point are calculated. And the actual XY coordinate values are obtained through coordinate transformation, the parameters are transmitted to the motion controller of the XYZ three-axis platform 2, and the embedded industrial computer controls the motion controller of the XYZ three-axis platform 2 to complete the XYZ three-axis positioning operation.
The industrial camera 4 shoots an image of the operation hole 8, and the image is shot after the background lamp 5 is turned on; the industrial camera 4 shoots the laser spot image, and the shooting position of the industrial camera 4 is the same position as the shooting position of the laser spot image shot after the background lamp 5 is closed, and the industrial camera 4 shoots the operation hole 8 image and the industrial camera 4 shoots the laser spot image and is superposed on a plane rectangular coordinate system xOy.
The operation hole 8 and the laser point are built in a plane rectangular coordinate system xOy, the relative position of the operation hole 8 is determined by the laser point, the position of the laser point and the position of the switching operation mechanism 6 are fixed, so that the relative position of the operation hole 8 and the switching operation mechanism 6 is determined, and the switching operation mechanism 6 moves according to the relative position, so that the operation hole 8 is aligned.
The invention relates to a switch cabinet automatic switching device based on machine vision, wherein a control core is an embedded industrial computer (an industrial personal computer for short). The remote operation command is transmitted to a switching operation room computer through an internal Ethernet and is sent through a wireless module after being encrypted, and an industrial personal computer of the automatic switching device of the switch cabinet receives a wireless data command to control a driver of the walking trolley 1 to move to a switch interval needing to be operated.
Claims (1)
1. Machine vision-based automatic switching method for switch cabinet, which is characterized in that: including the automatic switching device of cubical switchboard, the device includes: the device comprises an XYZ three-axis platform (2) arranged on a walking trolley (1), wherein an industrial camera (4) and a background lamp (5) are arranged on the walking trolley (1), a switching operation mechanism (6) and a laser emitter (7) are arranged on a Z axis of the XYZ three-axis platform (2), and the switching operation mechanism (6) and the laser emitter (7) are fixed in relative positions and move along with the Z axis;
the device also comprises a bar code (9) arranged near the operation hole (8) of the switch cabinet;
the automatic switching method of the switch cabinet comprises the following steps:
step 1: the walking trolley (1) moves to a switch cabinet position needing to be operated, and the XYZ three-axis platform (2) is in the original position;
step 2: turning on a background lamp (5), taking and identifying a bar code (9) by an industrial camera (4), and confirming a switch cabinet interval needing to be operated; simultaneously, the industrial camera (4) shoots an image of an operation hole (8) of the switch cabinet, identifies the position of the operation hole (8) in the image, and calculates the pixel coordinate value of the center of the operation hole (8) in the image;
and step 3: turning off a background lamp (5), turning on a laser emitter (7), taking an image by an industrial camera (4), identifying the position of a laser point emitted by the laser emitter (7) in the image, and calculating the pixel coordinate value of the laser point in the image;
and 4, step 4: combining an image of an operation hole (8) shot by an industrial camera (4) with an image of a laser point, wherein the two images are shot at the same distance and the same position, so that an operation hole pixel coordinate and a laser point pixel coordinate obtained by an image processing algorithm are original data for controlling the motion of the XYZ three-axis platform (2);
and 5: because the relative positions of the switching operation mechanism (6) and the laser emitter (7) which are arranged on the Z axis are fixed, the actual XY coordinate value can be obtained through coordinate calibration according to the image obtained by the industrial camera (4) and the pixel coordinate value of the laser point and the pixel coordinate value of the operation hole which are obtained through an image processing algorithm, the X, Y axis is controlled to move to the operation position, and the switching operation mechanism (6) is aligned to the insertion hole of the operation hole (8) to complete the switching operation;
the distance between the laser point and the switching operation mechanism (6) in the x direction is Lx, the distance between the laser point and the switching operation mechanism in the y direction is Ly, and once the laser transmitter (7) is fixedly installed, the two values are fixed and unchanged; obtaining coordinates of the operation hole (8) as x1 and y1 through image recognition and image processing calculation; the coordinates of the laser point are x2 and y 2; the XYZ three-axis platform (2) moves in the XY directions (Lx- (x 2-x 1)), (Ly- (y 2-y 1)); image processing and image recognition algorithms are carried out by writing codes of an upper computer, and pixel coordinate values of an operation hole (8) and a laser point are calculated; obtaining actual XY coordinate values through coordinate transformation, transmitting parameters to a motion controller of the XYZ three-axis platform (2), and controlling the motion controller of the XYZ three-axis platform (2) by the embedded industrial computer to complete XYZ three-axis positioning operation;
the industrial camera (4) shoots an image of the operation hole (8) and is an image shot after the background lamp (5) is turned on; the industrial camera (4) shoots a laser spot image, the shooting position of the industrial camera (4) is the same position as the shooting position of the laser spot image shot after the background lamp (5) is closed, the industrial camera (4) shoots an operation hole (8) image and the industrial camera (4) shoots the laser spot image, and the laser spot image are superposed on a plane rectangular coordinate system xOy;
the operation hole (8) and the laser point are built in a plane rectangular coordinate system xOy, the relative position of the operation hole (8) is determined by the laser point, the position of the laser point and the position of the switching operation mechanism (6) are fixed, so that the relative position of the operation hole (8) and the switching operation mechanism (6) is determined, and the switching operation mechanism (6) moves according to the relative position, so that the operation hole (8) is aligned.
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